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<div class="title">environment.hpp</div>  </div>
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<a href="environment_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;ompl/base/State.h&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;ompl/base/spaces/DubinsStateSpace.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;ompl/base/spaces/ReedsSheppStateSpace.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;ompl/base/spaces/SE2StateSpace.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;boost/functional/hash.hpp&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;boost/geometry.hpp&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;boost/geometry/algorithms/intersection.hpp&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;boost/geometry/geometries/linestring.hpp&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;boost/geometry/geometries/point_xy.hpp&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;boost/heap/fibonacci_heap.hpp&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;unordered_map&gt;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;unordered_set&gt;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="neighbor_8hpp.html">neighbor.hpp</a>&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="planresult_8hpp.html">planresult.hpp</a>&quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="namespaceConstants.html">   29</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceConstants.html">Constants</a> {</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">// [m] --- The minimum turning radius of the vehicle</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> r = 3;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> deltat = 6.75 * 6 / 180.0 * M_PI;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment">// [#] --- A movement cost penalty for turning (choosing non straight motion</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">// primitives)</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> penaltyTurning = 1.5;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">// [#] --- A movement cost penalty for reversing (choosing motion primitives &gt;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">// 2)</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> penaltyReversing = 2.0;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">// [#] --- A movement cost penalty for change of direction (changing from</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">// primitives &lt; 3 to primitives &gt; 2)</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> penaltyCOD = 2.0;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">// map resolution</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> mapResolution = 2.0;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">// change to set calcIndex resolution</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> xyResolution = r * deltat;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> yawResolution = deltat;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">// width of car</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> carWidth = 2.0;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">// distance from rear to vehicle front end</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> LF = 2.0;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">// distance from rear to vehicle back end</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> LB = 1.0;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="comment">// obstacle default radius</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">static</span> <span class="keywordtype">float</span> obsRadius = 1;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">// least time to wait for constraint</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">static</span> <span class="keywordtype">int</span> constraintWaitTime = 2;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">// R = 3, 6.75 DEG</span></div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">   60</a></span>&#160;std::vector&lt;double&gt; <a class="code" href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">dyaw</a> = {0, deltat, -deltat, 0, -deltat, deltat};</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">   61</a></span>&#160;std::vector&lt;double&gt; <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a> = {r * deltat, r *sin(deltat),  r *sin(deltat),</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                          -r *deltat, -r *sin(deltat), -r *sin(deltat)};</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">   63</a></span>&#160;std::vector&lt;double&gt; <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">dy</a> = {0, -r *(1 - cos(deltat)), r *(1 - cos(deltat)),</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                          0, -r *(1 - cos(deltat)), r *(1 - cos(deltat))};</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">float</span> normalizeHeadingRad(<span class="keywordtype">float</span> t) {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">if</span> (t &lt; 0) {</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    t = t - 2.f * M_PI * (int)(t / (2.f * M_PI));</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordflow">return</span> 2.f * M_PI + t;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">return</span> t - 2.f * M_PI * (int)(t / (2.f * M_PI));</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;}  <span class="comment">// namespace Constants</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacelibMultiRobotPlanning.html">libMultiRobotPlanning</a> {</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword">using</span> <a class="code" href="structlibMultiRobotPlanning_1_1Neighbor.html">libMultiRobotPlanning::Neighbor</a>;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keyword">using</span> <a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html">libMultiRobotPlanning::PlanResult</a>;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespacelibMultiRobotPlanning.html">libMultiRobotPlanning</a>;</div><div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="namespacelibMultiRobotPlanning.html#a844e866bb31d428ef897a8f22bda0cd0">   81</a></span>&#160;<span class="keyword">typedef</span> ompl::base::SE2StateSpace::StateType <a class="code" href="namespacelibMultiRobotPlanning.html#a844e866bb31d428ef897a8f22bda0cd0">OmplState</a>;</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="namespacelibMultiRobotPlanning.html#ac189dec8584a215824ec333efb32bd41">   82</a></span>&#160;<span class="keyword">typedef</span> boost::geometry::model::d2::point_xy&lt;double&gt; <a class="code" href="namespacelibMultiRobotPlanning.html#ac189dec8584a215824ec333efb32bd41">Point</a>;</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="namespacelibMultiRobotPlanning.html#a1b9a5d62ba2a055760096d0fb035f8c9">   83</a></span>&#160;<span class="keyword">typedef</span> boost::geometry::model::segment&lt;Point&gt; <a class="code" href="namespacelibMultiRobotPlanning.html#a1b9a5d62ba2a055760096d0fb035f8c9">Segment</a>;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Location, <span class="keyword">typename</span> State, <span class="keyword">typename</span> Action, <span class="keyword">typename</span> Cost,</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          <span class="keyword">typename</span> Conflict, <span class="keyword">typename</span> Constraint, <span class="keyword">typename</span> Constraints&gt;</div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html">   97</a></span>&#160;<span class="keyword">class </span><a class="code" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a> {</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#ad17575c73bb1aff1aa186011d4bae2b1">   99</a></span>&#160;  <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#ad17575c73bb1aff1aa186011d4bae2b1">Environment</a>(<span class="keywordtype">size_t</span> maxx, <span class="keywordtype">size_t</span> maxy, std::unordered_set&lt;Location&gt; obstacles,</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;              std::multimap&lt;int, State&gt; dynamic_obstacles,</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;              std::vector&lt;State&gt; goals)</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      : m_obstacles(std::move(obstacles)),</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        m_dynamic_obstacles(std::move(dynamic_obstacles)),</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        m_agentIdx(0),</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        m_constraints(nullptr),</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        m_lastGoalConstraint(-1),</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        m_highLevelExpanded(0),</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        m_lowLevelExpanded(0) {</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    m_dimx = (int)maxx / Constants::mapResolution;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    m_dimy = (int)maxy / Constants::mapResolution;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="comment">// std::cout &lt;&lt; &quot;env build &quot; &lt;&lt; m_dimx &lt;&lt; &quot; &quot; &lt;&lt; m_dimy &lt;&lt; &quot; &quot;</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="comment">//           &lt;&lt; m_obstacles.size() &lt;&lt; std::endl;</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    holonomic_cost_maps = std::vector&lt;std::vector&lt;std::vector&lt;double&gt;&gt;&gt;(</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        goals.size(), std::vector&lt;std::vector&lt;double&gt;&gt;(</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                          m_dimx, std::vector&lt;double&gt;(m_dimy, 0)));</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    m_goals.clear();</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;g : goals) {</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordflow">if</span> (g.x &lt; 0 || g.x &gt; maxx || g.y &lt; 0 || g.y &gt; maxy) {</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;\033[1m\033[31m Goal out of boundary, Fail to build &quot;</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                     <span class="stringliteral">&quot;environment \033[0m\n&quot;</span>;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      }</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      m_goals.emplace_back(</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          State(g.x, g.y, Constants::normalizeHeadingRad(g.yaw)));</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    }</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    updateCostmap();</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  }</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a>(<span class="keyword">const</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a> &amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a> &amp;operator=(<span class="keyword">const</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a> &amp;) = <span class="keyword">delete</span>;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#a41530a81727bcb3955820112467a4e34">  133</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#a41530a81727bcb3955820112467a4e34">getFirstConflict</a>(</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keyword">const</span> std::vector&lt;<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html">PlanResult&lt;State, Action, double&gt;</a>&gt; &amp;solution,</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      Conflict &amp;result) {</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordtype">int</span> max_t = 0;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;sol : solution) {</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      max_t = std::max&lt;int&gt;(max_t, sol.states.size() - 1);</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    }</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> t = 0; t &lt; max_t; ++t) {</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="comment">// check drive-drive collisions</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; solution.size(); ++i) {</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        State state1 = getState(i, solution, t);</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = i + 1; j &lt; solution.size(); ++j) {</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          State state2 = getState(j, solution, t);</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          <span class="keywordflow">if</span> (state1.agentCollision(state2)) {</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;            result.time = t;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;            result.agent1 = i;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;            result.agent2 = j;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            result.s1 = state1;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            result.s2 = state2;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          }</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        }</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      }</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    }</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  }</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#a35a9dee492558a6b30f23261bbd9a550">  160</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#a35a9dee492558a6b30f23261bbd9a550">createConstraintsFromConflict</a>(</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">const</span> Conflict &amp;conflict, std::map&lt;size_t, Constraints&gt; &amp;constraints) {</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    Constraints c1;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    c1.constraints.emplace(</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        Constraint(conflict.time, conflict.s2, conflict.agent2));</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    constraints[conflict.agent1] = c1;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    Constraints c2;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    c2.constraints.emplace(</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        Constraint(conflict.time, conflict.s1, conflict.agent1));</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    constraints[conflict.agent2] = c2;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  }</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#ae9972a439d882f561c0851a5009eba11">  172</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#ae9972a439d882f561c0851a5009eba11">onExpandHighLevelNode</a>(<span class="keywordtype">int</span> <span class="comment">/*cost*/</span>) {</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    m_highLevelExpanded++;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keywordflow">if</span> (m_highLevelExpanded % 50 == 0)</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      std::cout &lt;&lt; <span class="stringliteral">&quot;Now expand &quot;</span> &lt;&lt; m_highLevelExpanded</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                &lt;&lt; <span class="stringliteral">&quot; high level nodes.\n&quot;</span>;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  }</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#a6416c6401c079bb63e9c1019fa704971">  179</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#a6416c6401c079bb63e9c1019fa704971">highLevelExpanded</a>() { <span class="keywordflow">return</span> m_highLevelExpanded; }</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#aba22b21928b76318c7c41e72df252802">  182</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#aba22b21928b76318c7c41e72df252802">setLowLevelContext</a>(<span class="keywordtype">size_t</span> agentIdx, <span class="keyword">const</span> Constraints *constraints) {</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    assert(constraints);  <span class="comment">// NOLINT</span></div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    m_agentIdx = agentIdx;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    m_constraints = constraints;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    m_lastGoalConstraint = -1;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;c : constraints-&gt;constraints) {</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keywordflow">if</span> (m_goals[m_agentIdx].agentCollision(c.s)) {</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        m_lastGoalConstraint = std::max(m_lastGoalConstraint, c.time);</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      }</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    }</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="comment">// std::cout &lt;&lt; &quot;Setting Lowlevel agent idx:&quot; &lt;&lt; agentIdx</span></div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="comment">//           &lt;&lt; &quot; Constraints:&quot; &lt;&lt; constraints-&gt;constraints.size()</span></div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="comment">//           &lt;&lt; &quot;  lastGoalConstraints:&quot; &lt;&lt; m_lastGoalConstraint &lt;&lt;</span></div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="comment">//           std::endl;</span></div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  }</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div><div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#aa699ff38af2907cd0a03e267829fb8e1">  199</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#aa699ff38af2907cd0a03e267829fb8e1">admissibleHeuristic</a>(<span class="keyword">const</span> State &amp;s) {</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="comment">// non-holonomic-without-obstacles heuristic: use a Reeds-Shepp</span></div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    ompl::base::ReedsSheppStateSpace reedsSheppPath(Constants::r);</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    OmplState *rsStart = (OmplState *)reedsSheppPath.allocState();</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    OmplState *rsEnd = (OmplState *)reedsSheppPath.allocState();</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    rsStart-&gt;setXY(s.x, s.y);</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    rsStart-&gt;setYaw(s.yaw);</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    rsEnd-&gt;setXY(m_goals[m_agentIdx].x, m_goals[m_agentIdx].y);</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    rsEnd-&gt;setYaw(m_goals[m_agentIdx].yaw);</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordtype">double</span> reedsSheppCost = reedsSheppPath.distance(rsStart, rsEnd);</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="comment">// std::cout &lt;&lt; &quot;ReedsShepps cost:&quot; &lt;&lt; reedsSheppCost &lt;&lt; std::endl;</span></div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="comment">// Euclidean distance</span></div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordtype">double</span> euclideanCost = sqrt(pow(m_goals[m_agentIdx].x - s.x, 2) +</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                                pow(m_goals[m_agentIdx].y - s.y, 2));</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="comment">// std::cout &lt;&lt; &quot;Euclidean cost:&quot; &lt;&lt; euclideanCost &lt;&lt; std::endl;</span></div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="comment">// holonomic-with-obstacles heuristic</span></div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordtype">double</span> twoDoffset =</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        sqrt(pow((s.x - (<span class="keywordtype">int</span>)s.x) -</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                     (m_goals[m_agentIdx].x - (<span class="keywordtype">int</span>)m_goals[m_agentIdx].x),</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                 2) +</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;             pow((s.y - (<span class="keywordtype">int</span>)s.y) -</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                     (m_goals[m_agentIdx].y - (<span class="keywordtype">int</span>)m_goals[m_agentIdx].y),</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                 2));</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordtype">double</span> twoDCost =</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        holonomic_cost_maps[m_agentIdx][(int)s.x / Constants::mapResolution]</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                           [(<span class="keywordtype">int</span>)s.y / Constants::mapResolution] -</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        twoDoffset;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="comment">// std::cout &lt;&lt; &quot;holonomic cost:&quot; &lt;&lt; twoDCost &lt;&lt; std::endl;</span></div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keywordflow">return</span> std::max({reedsSheppCost, euclideanCost, twoDCost});</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  }</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#a169c1f48204f9028bf287873b8d771c2">  232</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#a169c1f48204f9028bf287873b8d771c2">isSolution</a>(</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <span class="keyword">const</span> State &amp;state, <span class="keywordtype">double</span> gscore,</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      std::unordered_map&lt;State, std::tuple&lt;State, Action, double, double&gt;,</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;                         std::hash&lt;State&gt;&gt; &amp;_camefrom) {</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="keywordtype">double</span> goal_distance =</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        sqrt(pow(state.x - getGoal().x, 2) + pow(state.y - getGoal().y, 2));</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keywordflow">if</span> (goal_distance &gt; 3 * (Constants::LB + Constants::LF)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    ompl::base::ReedsSheppStateSpace reedsSheppSpace(Constants::r);</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    OmplState *rsStart = (OmplState *)reedsSheppSpace.allocState();</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    OmplState *rsEnd = (OmplState *)reedsSheppSpace.allocState();</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    rsStart-&gt;setXY(state.x, state.y);</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    rsStart-&gt;setYaw(-state.yaw);</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    rsEnd-&gt;setXY(getGoal().x, getGoal().y);</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    rsEnd-&gt;setYaw(-getGoal().yaw);</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    ompl::base::ReedsSheppStateSpace::ReedsSheppPath reedsShepppath =</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        reedsSheppSpace.reedsShepp(rsStart, rsEnd);</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    std::vector&lt;State&gt; path;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    std::unordered_map&lt;State, std::tuple&lt;State, Action, double, double&gt;,</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                       std::hash&lt;State&gt;&gt;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        cameFrom;</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    cameFrom.clear();</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    path.emplace_back(state);</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> pathidx = 0; pathidx &lt; 5; pathidx++) {</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keywordflow">if</span> (fabs(reedsShepppath.length_[pathidx]) &lt; 1e-6) <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="keywordtype">double</span> deltat = 0, <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a> = 0, act = 0, cost = 0;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="keywordflow">switch</span> (reedsShepppath.type_[pathidx]) {</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordflow">case</span> 0:  <span class="comment">// RS_NOP</span></div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;          <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          <span class="keywordflow">break</span>;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <span class="keywordflow">case</span> 1:  <span class="comment">// RS_LEFT</span></div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;          deltat = -reedsShepppath.length_[pathidx];</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a> = Constants::r * sin(-deltat);</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          <span class="comment">// dy = Constants::r * (1 - cos(-deltat));</span></div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          act = 2;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          cost = reedsShepppath.length_[pathidx] * Constants::r *</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                 Constants::penaltyTurning;</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          <span class="keywordflow">break</span>;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <span class="keywordflow">case</span> 2:  <span class="comment">// RS_STRAIGHT</span></div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;          deltat = 0;</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;          <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a> = reedsShepppath.length_[pathidx] * Constants::r;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;          <span class="comment">// dy = 0;</span></div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          act = 0;</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;          cost = <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a>;</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          <span class="keywordflow">break</span>;</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <span class="keywordflow">case</span> 3:  <span class="comment">// RS_RIGHT</span></div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;          deltat = reedsShepppath.length_[pathidx];</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;          <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a> = Constants::r * sin(deltat);</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;          <span class="comment">// dy = -Constants::r * (1 - cos(deltat));</span></div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          act = 1;</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;          cost = reedsShepppath.length_[pathidx] * Constants::r *</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;                 Constants::penaltyTurning;</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          <span class="keywordflow">break</span>;</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <span class="keywordflow">default</span>:</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;\033[1m\033[31m&quot;</span></div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                    &lt;&lt; <span class="stringliteral">&quot;Warning: Receive unknown ReedsSheppPath type&quot;</span></div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                    &lt;&lt; <span class="stringliteral">&quot;\033[0m\n&quot;</span>;</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;          <span class="keywordflow">break</span>;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      }</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      <span class="keywordflow">if</span> (cost &lt; 0) {</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        cost = -cost * Constants::penaltyReversing;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        act = act + 3;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      }</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      State s = path.back();</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      std::vector&lt;std::pair&lt;State, double&gt;&gt; next_path;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keywordflow">if</span> (generatePath(s, act, deltat, <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a>, next_path)) {</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">auto</span> iter = next_path.begin(); iter != next_path.end(); iter++) {</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;          State next_s = iter-&gt;first;</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;          gscore += iter-&gt;second;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;          <span class="keywordflow">if</span> (!(next_s == path.back())) {</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;            cameFrom.insert(std::make_pair&lt;&gt;(</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;                next_s,</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                std::make_tuple&lt;&gt;(path.back(), act, iter-&gt;second, gscore)));</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;          }</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;          path.emplace_back(next_s);</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        }</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      }</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    }</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keywordflow">if</span> (path.back().time &lt;= m_lastGoalConstraint) {</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    }</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    m_goals[m_agentIdx] = path.back();</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    _camefrom.insert(cameFrom.begin(), cameFrom.end());</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  }</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;</div><div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#ac25b780f08c32d8e8bd1563a79124689">  323</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#ac25b780f08c32d8e8bd1563a79124689">getNeighbors</a>(<span class="keyword">const</span> State &amp;s, Action action,</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;                    std::vector&lt;<a class="code" href="structlibMultiRobotPlanning_1_1Neighbor.html">Neighbor&lt;State, Action, double&gt;</a>&gt; &amp;neighbors) {</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    neighbors.clear();</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="keywordtype">double</span> g = <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[0];</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="keywordflow">for</span> (Action act = 0; act &lt; 6; act++) {  <span class="comment">// has 6 directions for Reeds-Shepp</span></div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <span class="keywordtype">double</span> xSucc, ySucc, yawSucc;</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      g = <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[0];</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      xSucc = s.x + <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[act] * cos(-s.yaw) -</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;              <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">Constants::dy</a>[act] * sin(-s.yaw);</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      ySucc = s.y + <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[act] * sin(-s.yaw) +</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;              <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">Constants::dy</a>[act] * cos(-s.yaw);</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      yawSucc = Constants::normalizeHeadingRad(s.yaw + <a class="code" href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">Constants::dyaw</a>[act]);</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      <span class="comment">// if (act != action) {  // penalize turning</span></div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      <span class="comment">//   g = g * Constants::penaltyTurning;</span></div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      <span class="comment">//   if (act &gt;= 3)  // penalize change of direction</span></div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="comment">//     g = g * Constants::penaltyCOD;</span></div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      <span class="comment">// }</span></div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      <span class="comment">// if (act &gt; 3) {  // backwards</span></div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <span class="comment">//   g = g * Constants::penaltyReversing;</span></div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      <span class="comment">// }</span></div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <span class="keywordflow">if</span> (act % 3 != 0) {  <span class="comment">// penalize turning</span></div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        g = g * Constants::penaltyTurning;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      }</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="keywordflow">if</span> ((act &lt; 3 &amp;&amp; action &gt;= 3) || (action &lt; 3 &amp;&amp; act &gt;= 3)) {</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        <span class="comment">// penalize change of direction</span></div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        g = g * Constants::penaltyCOD;</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      }</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      <span class="keywordflow">if</span> (act &gt;= 3) {  <span class="comment">// backwards</span></div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        g = g * Constants::penaltyReversing;</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      }</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      State tempState(xSucc, ySucc, yawSucc, s.time + 1);</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      <span class="keywordflow">if</span> (stateValid(tempState)) {</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        neighbors.emplace_back(</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;            <a class="code" href="structlibMultiRobotPlanning_1_1Neighbor.html">Neighbor&lt;State, Action, double&gt;</a>(tempState, act, g));</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      }</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    }</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    <span class="comment">// wait</span></div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    g = <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[0];</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    State tempState(s.x, s.y, s.yaw, s.time + 1);</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="keywordflow">if</span> (stateValid(tempState)) {</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      neighbors.emplace_back(<a class="code" href="structlibMultiRobotPlanning_1_1Neighbor.html">Neighbor&lt;State, Action, double&gt;</a>(tempState, 6, g));</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    }</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  }</div><div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#ad5eab4549c789e6b01028dc3ffe2697d">  366</a></span>&#160;  State <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#ad5eab4549c789e6b01028dc3ffe2697d">getGoal</a>() { <span class="keywordflow">return</span> m_goals[m_agentIdx]; }</div><div class="line"><a name="l00367"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#abb7f89fed175eb3c00a14c830d692fc6">  367</a></span>&#160;  uint64_t <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#abb7f89fed175eb3c00a14c830d692fc6">calcIndex</a>(<span class="keyword">const</span> State &amp;s) {</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    <span class="keywordflow">return</span> (uint64_t)s.time * (2 * M_PI / Constants::deltat) *</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;               (m_dimx / Constants::xyResolution) *</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;               (m_dimy / Constants::xyResolution) +</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;           (uint64_t)(Constants::normalizeHeadingRad(s.yaw) /</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;                      Constants::yawResolution) *</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;               (m_dimx / Constants::xyResolution) *</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;               (m_dimy / Constants::xyResolution) +</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;           (uint64_t)(s.y / Constants::xyResolution) *</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;               (m_dimx / Constants::xyResolution) +</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;           (uint64_t)(s.x / Constants::xyResolution);</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  }</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;</div><div class="line"><a name="l00380"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#a987be6d79a64c4c64ad5fb84a78c9f0b">  380</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#a987be6d79a64c4c64ad5fb84a78c9f0b">onExpandLowLevelNode</a>(<span class="keyword">const</span> State &amp; <span class="comment">/*s*/</span>, <span class="keywordtype">int</span> <span class="comment">/*fScore*/</span>,</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;                            <span class="keywordtype">int</span> <span class="comment">/*gScore*/</span>) {</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    m_lowLevelExpanded++;</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  }</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;</div><div class="line"><a name="l00385"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#a9ca13cf9d5d315407ebd3eb4b9b4eb4c">  385</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#a9ca13cf9d5d315407ebd3eb4b9b4eb4c">lowLevelExpanded</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_lowLevelExpanded; }</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;</div><div class="line"><a name="l00387"></a><span class="lineno"><a class="line" href="classlibMultiRobotPlanning_1_1Environment.html#af8498845744cdc0ba1ecb1024b9145dc">  387</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classlibMultiRobotPlanning_1_1Environment.html#af8498845744cdc0ba1ecb1024b9145dc">startAndGoalValid</a>(<span class="keyword">const</span> std::vector&lt;State&gt; &amp;m_starts, <span class="keyword">const</span> <span class="keywordtype">size_t</span> iter,</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">int</span> batchsize) {</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    assert(m_goals.size() == m_starts.size());</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; m_goals.size(); i++)</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = i + 1; j &lt; m_goals.size(); j++) {</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <span class="keywordflow">if</span> (m_goals[i].agentCollision(m_goals[j])) {</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;ERROR: Goal point of &quot;</span> &lt;&lt; i + iter * batchsize &lt;&lt; <span class="stringliteral">&quot; &amp; &quot;</span></div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;                    &lt;&lt; j + iter * batchsize &lt;&lt; <span class="stringliteral">&quot; collide!\n&quot;</span>;</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        }</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        <span class="keywordflow">if</span> (m_starts[i].agentCollision(m_starts[j])) {</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;ERROR: Start point of &quot;</span> &lt;&lt; i + iter * batchsize &lt;&lt; <span class="stringliteral">&quot; &amp; &quot;</span></div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;                    &lt;&lt; j + iter * batchsize &lt;&lt; <span class="stringliteral">&quot; collide!\n&quot;</span>;</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        }</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      }</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  }</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  State getState(<span class="keywordtype">size_t</span> agentIdx,</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;                 <span class="keyword">const</span> std::vector&lt;<a class="code" href="structlibMultiRobotPlanning_1_1PlanResult.html">PlanResult&lt;State, Action, double&gt;</a>&gt; &amp;solution,</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;                 <span class="keywordtype">size_t</span> t) {</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    assert(agentIdx &lt; solution.size());</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keywordflow">if</span> (t &lt; solution[agentIdx].states.size()) {</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <span class="keywordflow">return</span> solution[agentIdx].states[t].first;</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    }</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    assert(!solution[agentIdx].states.empty());</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <span class="keywordflow">return</span> solution[agentIdx].states.back().first;</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  }</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  <span class="keywordtype">bool</span> stateValid(<span class="keyword">const</span> State &amp;s) {</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    <span class="keywordtype">double</span> x_ind = s.x / Constants::mapResolution;</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    <span class="keywordtype">double</span> y_ind = s.y / Constants::mapResolution;</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    <span class="keywordflow">if</span> (x_ind &lt; 0 || x_ind &gt;= m_dimx || y_ind &lt; 0 || y_ind &gt;= m_dimy)</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = m_obstacles.begin(); it != m_obstacles.end(); it++) {</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      <span class="keywordflow">if</span> (s.obsCollision(*it)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    }</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <span class="keyword">auto</span> it = m_dynamic_obstacles.equal_range(s.time);</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> itr = it.first; itr != it.second; ++itr) {</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      <span class="keywordflow">if</span> (s.agentCollision(itr-&gt;second)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    }</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    <span class="keyword">auto</span> itlow = m_dynamic_obstacles.lower_bound(-s.time);</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    <span class="keyword">auto</span> itup = m_dynamic_obstacles.upper_bound(-1);</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = itlow; it != itup; ++it)</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      <span class="keywordflow">if</span> (s.agentCollision(it-&gt;second)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = m_constraints-&gt;constraints.begin();</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;         it != m_constraints-&gt;constraints.end(); it++) {</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      <span class="keywordflow">if</span> (!it-&gt;satisfyConstraint(s)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    }</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  }</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  <span class="keyword">struct </span>compare_node {</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> std::pair&lt;State, double&gt; &amp;n1,</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;                    <span class="keyword">const</span> std::pair&lt;State, double&gt; &amp;n2)<span class="keyword"> const </span>{</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;      <span class="keywordflow">return</span> (n1.second &gt; n2.second);</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    }</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  };</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  <span class="keywordtype">void</span> updateCostmap() {</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    boost::heap::fibonacci_heap&lt;std::pair&lt;State, double&gt;,</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;                                boost::heap::compare&lt;compare_node&gt;&gt;</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        heap;</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    std::set&lt;std::pair&lt;int, int&gt;&gt; temp_obs_set;</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = m_obstacles.begin(); it != m_obstacles.end(); it++) {</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      temp_obs_set.insert(</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;          std::make_pair((<span class="keywordtype">int</span>)it-&gt;x / Constants::mapResolution,</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;                         (<span class="keywordtype">int</span>)it-&gt;y / Constants::mapResolution));</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    }</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;</div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; m_goals.size(); idx++) {</div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;      heap.clear();</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      <span class="keywordtype">int</span> goal_x = (int)m_goals[idx].x / Constants::mapResolution;</div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;      <span class="keywordtype">int</span> goal_y = (int)m_goals[idx].y / Constants::mapResolution;</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      heap.push(std::make_pair(State(goal_x, goal_y, 0), 0));</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;</div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      <span class="keywordflow">while</span> (!heap.empty()) {</div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;        std::pair&lt;State, double&gt; node = heap.top();</div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;        heap.pop();</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        <span class="keywordtype">int</span> x = node.first.x;</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        <span class="keywordtype">int</span> y = node.first.y;</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a> = -1; <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a> &lt;= 1; <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a>++)</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">dy</a> = -1; <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">dy</a> &lt;= 1; <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">dy</a>++) {</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;            <span class="keywordflow">if</span> (<a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a> == 0 &amp;&amp; <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">dy</a> == 0) <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;            <span class="keywordtype">int</span> new_x = x + <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a>;</div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;            <span class="keywordtype">int</span> new_y = y + <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">dy</a>;</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;            <span class="keywordflow">if</span> (new_x == goal_x &amp;&amp; new_y == goal_y) <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;            <span class="keywordflow">if</span> (new_x &gt;= 0 &amp;&amp; new_x &lt; m_dimx &amp;&amp; new_y &gt;= 0 &amp;&amp; new_y &lt; m_dimy &amp;&amp;</div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;                holonomic_cost_maps[idx][new_x][new_y] == 0 &amp;&amp;</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;                temp_obs_set.find(std::make_pair(new_x, new_y)) ==</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;                    temp_obs_set.end()) {</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;              holonomic_cost_maps[idx][new_x][new_y] =</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;                  holonomic_cost_maps[idx][x][y] +</div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;                  sqrt(pow(dx * Constants::mapResolution, 2) +</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;                       pow(dy * Constants::mapResolution, 2));</div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;              heap.push(std::make_pair(State(new_x, new_y, 0),</div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;                                       holonomic_cost_maps[idx][new_x][new_y]));</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;            }</div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;          }</div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;      }</div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    }</div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;</div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    <span class="comment">// for (size_t idx = 0; idx &lt; m_goals.size(); idx++) {</span></div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    <span class="comment">//   std::cout &lt;&lt; &quot;---------Cost Map -------Agent: &quot; &lt;&lt; idx</span></div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    <span class="comment">//             &lt;&lt; &quot;------------\n&quot;;</span></div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    <span class="comment">//   for (size_t i = 0; i &lt; m_dimx; i++) {</span></div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    <span class="comment">//     for (size_t j = 0; j &lt; m_dimy; j++)</span></div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    <span class="comment">//       std::cout &lt;&lt; holonomic_cost_maps[idx][i][j] &lt;&lt; &quot;\t&quot;;</span></div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    <span class="comment">//     std::cout &lt;&lt; std::endl;</span></div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    <span class="comment">//   }</span></div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    <span class="comment">// }</span></div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;  }</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;  <span class="keywordtype">bool</span> generatePath(State startState, <span class="keywordtype">int</span> act, <span class="keywordtype">double</span> deltaSteer,</div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;                    <span class="keywordtype">double</span> deltaLength,</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;                    std::vector&lt;std::pair&lt;State, double&gt;&gt; &amp;result) {</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    <span class="keywordtype">double</span> xSucc, ySucc, yawSucc, <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a>, <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">dy</a>, <a class="code" href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">dyaw</a>, ratio;</div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    result.emplace_back(std::make_pair&lt;&gt;(startState, 0));</div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    <span class="keywordflow">if</span> (act == 0 || act == 3) {</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; (size_t)(deltaLength / <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[act]); i++) {</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;        State s = result.back().first;</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;        xSucc = s.x + <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[act] * cos(-s.yaw) -</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;                <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">Constants::dy</a>[act] * sin(-s.yaw);</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        ySucc = s.y + <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[act] * sin(-s.yaw) +</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;                <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">Constants::dy</a>[act] * cos(-s.yaw);</div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;        yawSucc = Constants::normalizeHeadingRad(s.yaw + <a class="code" href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">Constants::dyaw</a>[act]);</div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;        State nextState(xSucc, ySucc, yawSucc, result.back().first.time + 1);</div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;        <span class="keywordflow">if</span> (!stateValid(nextState)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;        result.emplace_back(std::make_pair&lt;&gt;(nextState, <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[0]));</div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      }</div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      ratio = (deltaLength -</div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;               (int)(deltaLength / <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[act]) * <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[act]) /</div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;              <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[act];</div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      dyaw = 0;</div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;      dx = ratio * <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[act];</div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;      dy = 0;</div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; (size_t)(deltaSteer / <a class="code" href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">Constants::dyaw</a>[act]); i++) {</div><div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;        State s = result.back().first;</div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;        xSucc = s.x + <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[act] * cos(-s.yaw) -</div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;                <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">Constants::dy</a>[act] * sin(-s.yaw);</div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        ySucc = s.y + <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[act] * sin(-s.yaw) +</div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;                <a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">Constants::dy</a>[act] * cos(-s.yaw);</div><div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;        yawSucc = Constants::normalizeHeadingRad(s.yaw + <a class="code" href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">Constants::dyaw</a>[act]);</div><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        State nextState(xSucc, ySucc, yawSucc, result.back().first.time + 1);</div><div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        <span class="keywordflow">if</span> (!stateValid(nextState)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        result.emplace_back(std::make_pair&lt;&gt;(</div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;            nextState, <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[0] * Constants::penaltyTurning));</div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      }</div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      ratio = (deltaSteer - (int)(deltaSteer / <a class="code" href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">Constants::dyaw</a>[act]) *</div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;                                <a class="code" href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">Constants::dyaw</a>[act]) /</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;              <a class="code" href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">Constants::dyaw</a>[act];</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;      dyaw = ratio * <a class="code" href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">Constants::dyaw</a>[act];</div><div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;      dx = Constants::r * sin(dyaw);</div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      dy = -Constants::r * (1 - cos(dyaw));</div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      <span class="keywordflow">if</span> (act == 2 || act == 5) {</div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;        dx = -<a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">dx</a>;</div><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        dy = -<a class="code" href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">dy</a>;</div><div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;      }</div><div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;    }</div><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    State s = result.back().first;</div><div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    xSucc = s.x + dx * cos(-s.yaw) - dy * sin(-s.yaw);</div><div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;    ySucc = s.y + dx * sin(-s.yaw) + dy * cos(-s.yaw);</div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;    yawSucc = Constants::normalizeHeadingRad(s.yaw + dyaw);</div><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;    <span class="comment">// std::cout &lt;&lt; m_agentIdx &lt;&lt; &quot; ratio::&quot; &lt;&lt; ratio &lt;&lt; std::endl;</span></div><div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;    State nextState(xSucc, ySucc, yawSucc, result.back().first.time + 1);</div><div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    <span class="keywordflow">if</span> (!stateValid(nextState)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;    result.emplace_back(std::make_pair&lt;&gt;(nextState, ratio * <a class="code" href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a>[0]));</div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;</div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;    <span class="comment">// std::cout &lt;&lt; &quot;Have generate &quot; &lt;&lt; result.size() &lt;&lt; &quot; path segments:\n\t&quot;;</span></div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;    <span class="comment">// for (auto iter = result.begin(); iter != result.end(); iter++)</span></div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    <span class="comment">//   std::cout &lt;&lt; iter-&gt;first &lt;&lt; &quot;:&quot; &lt;&lt; iter-&gt;second &lt;&lt; &quot;-&gt;&quot;;</span></div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    <span class="comment">// std::cout &lt;&lt; std::endl;</span></div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;</div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  }</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;</div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;  <span class="keywordtype">int</span> m_dimx;</div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;  <span class="keywordtype">int</span> m_dimy;</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;  std::vector&lt;std::vector&lt;std::vector&lt;double&gt;&gt;&gt; holonomic_cost_maps;</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;  std::unordered_set&lt;Location&gt; m_obstacles;</div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;  std::multimap&lt;int, State&gt; m_dynamic_obstacles;</div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  std::vector&lt;State&gt; m_goals;</div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  <span class="comment">// std::vector&lt; std::vector&lt;int&gt; &gt; m_heuristic;</span></div><div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  std::vector&lt;double&gt; m_vel_limit;</div><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;  <span class="keywordtype">size_t</span> m_agentIdx;</div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;  <span class="keyword">const</span> Constraints *m_constraints;</div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  <span class="keywordtype">int</span> m_lastGoalConstraint;</div><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;  <span class="keywordtype">int</span> m_highLevelExpanded;</div><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  <span class="keywordtype">int</span> m_lowLevelExpanded;</div><div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;};</div><div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;</div><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;}  <span class="comment">// namespace libMultiRobotPlanning</span></div><div class="ttc" id="namespacelibMultiRobotPlanning_html_ac189dec8584a215824ec333efb32bd41"><div class="ttname"><a href="namespacelibMultiRobotPlanning.html#ac189dec8584a215824ec333efb32bd41">libMultiRobotPlanning::Point</a></div><div class="ttdeci">boost::geometry::model::d2::point_xy&lt; double &gt; Point</div><div class="ttdef"><b>Definition:</b> environment.hpp:82</div></div>
<div class="ttc" id="namespaceConstants_html_a73c1390c57181cef88dd82781e2e6505"><div class="ttname"><a href="namespaceConstants.html#a73c1390c57181cef88dd82781e2e6505">Constants::dx</a></div><div class="ttdeci">std::vector&lt; double &gt; dx</div><div class="ttdef"><b>Definition:</b> environment.hpp:61</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_ae9972a439d882f561c0851a5009eba11"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#ae9972a439d882f561c0851a5009eba11">libMultiRobotPlanning::Environment::onExpandHighLevelNode</a></div><div class="ttdeci">void onExpandHighLevelNode(int)</div><div class="ttdef"><b>Definition:</b> environment.hpp:172</div></div>
<div class="ttc" id="namespaceConstants_html_a627bafd3befec8fad9e764920e9e56f4"><div class="ttname"><a href="namespaceConstants.html#a627bafd3befec8fad9e764920e9e56f4">Constants::dyaw</a></div><div class="ttdeci">std::vector&lt; double &gt; dyaw</div><div class="ttdef"><b>Definition:</b> environment.hpp:60</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_a41530a81727bcb3955820112467a4e34"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#a41530a81727bcb3955820112467a4e34">libMultiRobotPlanning::Environment::getFirstConflict</a></div><div class="ttdeci">bool getFirstConflict(const std::vector&lt; PlanResult&lt; State, Action, double &gt;&gt; &amp;solution, Conflict &amp;result)</div><div class="ttdoc">High Level Environment functions. </div><div class="ttdef"><b>Definition:</b> environment.hpp:133</div></div>
<div class="ttc" id="namespacelibMultiRobotPlanning_html_a844e866bb31d428ef897a8f22bda0cd0"><div class="ttname"><a href="namespacelibMultiRobotPlanning.html#a844e866bb31d428ef897a8f22bda0cd0">libMultiRobotPlanning::OmplState</a></div><div class="ttdeci">ompl::base::SE2StateSpace::StateType OmplState</div><div class="ttdef"><b>Definition:</b> environment.hpp:81</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_a9ca13cf9d5d315407ebd3eb4b9b4eb4c"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#a9ca13cf9d5d315407ebd3eb4b9b4eb4c">libMultiRobotPlanning::Environment::lowLevelExpanded</a></div><div class="ttdeci">int lowLevelExpanded() const </div><div class="ttdef"><b>Definition:</b> environment.hpp:385</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_a987be6d79a64c4c64ad5fb84a78c9f0b"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#a987be6d79a64c4c64ad5fb84a78c9f0b">libMultiRobotPlanning::Environment::onExpandLowLevelNode</a></div><div class="ttdeci">void onExpandLowLevelNode(const State &amp;, int, int)</div><div class="ttdef"><b>Definition:</b> environment.hpp:380</div></div>
<div class="ttc" id="namespacelibMultiRobotPlanning_html_a1b9a5d62ba2a055760096d0fb035f8c9"><div class="ttname"><a href="namespacelibMultiRobotPlanning.html#a1b9a5d62ba2a055760096d0fb035f8c9">libMultiRobotPlanning::Segment</a></div><div class="ttdeci">boost::geometry::model::segment&lt; Point &gt; Segment</div><div class="ttdef"><b>Definition:</b> environment.hpp:83</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_abb7f89fed175eb3c00a14c830d692fc6"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#abb7f89fed175eb3c00a14c830d692fc6">libMultiRobotPlanning::Environment::calcIndex</a></div><div class="ttdeci">uint64_t calcIndex(const State &amp;s)</div><div class="ttdef"><b>Definition:</b> environment.hpp:367</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a></div><div class="ttdoc">Environment class. </div><div class="ttdef"><b>Definition:</b> environment.hpp:97</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_af8498845744cdc0ba1ecb1024b9145dc"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#af8498845744cdc0ba1ecb1024b9145dc">libMultiRobotPlanning::Environment::startAndGoalValid</a></div><div class="ttdeci">bool startAndGoalValid(const std::vector&lt; State &gt; &amp;m_starts, const size_t iter, const int batchsize)</div><div class="ttdef"><b>Definition:</b> environment.hpp:387</div></div>
<div class="ttc" id="structlibMultiRobotPlanning_1_1Neighbor_html"><div class="ttname"><a href="structlibMultiRobotPlanning_1_1Neighbor.html">libMultiRobotPlanning::Neighbor</a></div><div class="ttdoc">Represents state transations. </div><div class="ttdef"><b>Definition:</b> neighbor.hpp:24</div></div>
<div class="ttc" id="namespacelibMultiRobotPlanning_html"><div class="ttname"><a href="namespacelibMultiRobotPlanning.html">libMultiRobotPlanning</a></div><div class="ttdef"><b>Definition:</b> cl_cbs.hpp:19</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_aa699ff38af2907cd0a03e267829fb8e1"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#aa699ff38af2907cd0a03e267829fb8e1">libMultiRobotPlanning::Environment::admissibleHeuristic</a></div><div class="ttdeci">int admissibleHeuristic(const State &amp;s)</div><div class="ttdef"><b>Definition:</b> environment.hpp:199</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_ad17575c73bb1aff1aa186011d4bae2b1"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#ad17575c73bb1aff1aa186011d4bae2b1">libMultiRobotPlanning::Environment::Environment</a></div><div class="ttdeci">Environment(size_t maxx, size_t maxy, std::unordered_set&lt; Location &gt; obstacles, std::multimap&lt; int, State &gt; dynamic_obstacles, std::vector&lt; State &gt; goals)</div><div class="ttdef"><b>Definition:</b> environment.hpp:99</div></div>
<div class="ttc" id="namespaceConstants_html"><div class="ttname"><a href="namespaceConstants.html">Constants</a></div><div class="ttdef"><b>Definition:</b> environment.hpp:29</div></div>
<div class="ttc" id="neighbor_8hpp_html"><div class="ttname"><a href="neighbor_8hpp.html">neighbor.hpp</a></div><div class="ttdoc">Neighbor header. </div></div>
<div class="ttc" id="namespaceConstants_html_a51c342708494b61085d51877cf6f1f28"><div class="ttname"><a href="namespaceConstants.html#a51c342708494b61085d51877cf6f1f28">Constants::dy</a></div><div class="ttdeci">std::vector&lt; double &gt; dy</div><div class="ttdef"><b>Definition:</b> environment.hpp:63</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_a35a9dee492558a6b30f23261bbd9a550"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#a35a9dee492558a6b30f23261bbd9a550">libMultiRobotPlanning::Environment::createConstraintsFromConflict</a></div><div class="ttdeci">void createConstraintsFromConflict(const Conflict &amp;conflict, std::map&lt; size_t, Constraints &gt; &amp;constraints)</div><div class="ttdef"><b>Definition:</b> environment.hpp:160</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_ad5eab4549c789e6b01028dc3ffe2697d"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#ad5eab4549c789e6b01028dc3ffe2697d">libMultiRobotPlanning::Environment::getGoal</a></div><div class="ttdeci">State getGoal()</div><div class="ttdef"><b>Definition:</b> environment.hpp:366</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_a6416c6401c079bb63e9c1019fa704971"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#a6416c6401c079bb63e9c1019fa704971">libMultiRobotPlanning::Environment::highLevelExpanded</a></div><div class="ttdeci">int highLevelExpanded()</div><div class="ttdef"><b>Definition:</b> environment.hpp:179</div></div>
<div class="ttc" id="structlibMultiRobotPlanning_1_1PlanResult_html"><div class="ttname"><a href="structlibMultiRobotPlanning_1_1PlanResult.html">libMultiRobotPlanning::PlanResult</a></div><div class="ttdoc">Represents the path for an agent. </div><div class="ttdef"><b>Definition:</b> planresult.hpp:28</div></div>
<div class="ttc" id="planresult_8hpp_html"><div class="ttname"><a href="planresult_8hpp.html">planresult.hpp</a></div><div class="ttdoc">PlanResult header. </div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_aba22b21928b76318c7c41e72df252802"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#aba22b21928b76318c7c41e72df252802">libMultiRobotPlanning::Environment::setLowLevelContext</a></div><div class="ttdeci">void setLowLevelContext(size_t agentIdx, const Constraints *constraints)</div><div class="ttdoc">Low Level Environment functions. </div><div class="ttdef"><b>Definition:</b> environment.hpp:182</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_a169c1f48204f9028bf287873b8d771c2"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#a169c1f48204f9028bf287873b8d771c2">libMultiRobotPlanning::Environment::isSolution</a></div><div class="ttdeci">bool isSolution(const State &amp;state, double gscore, std::unordered_map&lt; State, std::tuple&lt; State, Action, double, double &gt;, std::hash&lt; State &gt;&gt; &amp;_camefrom)</div><div class="ttdef"><b>Definition:</b> environment.hpp:232</div></div>
<div class="ttc" id="classlibMultiRobotPlanning_1_1Environment_html_ac25b780f08c32d8e8bd1563a79124689"><div class="ttname"><a href="classlibMultiRobotPlanning_1_1Environment.html#ac25b780f08c32d8e8bd1563a79124689">libMultiRobotPlanning::Environment::getNeighbors</a></div><div class="ttdeci">void getNeighbors(const State &amp;s, Action action, std::vector&lt; Neighbor&lt; State, Action, double &gt;&gt; &amp;neighbors)</div><div class="ttdef"><b>Definition:</b> environment.hpp:323</div></div>
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